EP4196859B1 - Autonomer sicherheitsfahrer - Google Patents

Autonomer sicherheitsfahrer

Info

Publication number
EP4196859B1
EP4196859B1 EP21856743.6A EP21856743A EP4196859B1 EP 4196859 B1 EP4196859 B1 EP 4196859B1 EP 21856743 A EP21856743 A EP 21856743A EP 4196859 B1 EP4196859 B1 EP 4196859B1
Authority
EP
European Patent Office
Prior art keywords
autonomous
safety
autonomous vehicle
vehicle
rider
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP21856743.6A
Other languages
English (en)
French (fr)
Other versions
EP4196859A1 (de
EP4196859A4 (de
Inventor
Brian Stewart
Paul Lewis
Ben Hill
Dave HOLLINGSHEAD
Sean Gardner
John Peterson
Kasper WOICESHYN
Chad JEPPESEN
Eric BUDD
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Autonomous Solutions Inc
Original Assignee
Autonomous Solutions Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Autonomous Solutions Inc filed Critical Autonomous Solutions Inc
Publication of EP4196859A1 publication Critical patent/EP4196859A1/de
Publication of EP4196859A4 publication Critical patent/EP4196859A4/de
Application granted granted Critical
Publication of EP4196859B1 publication Critical patent/EP4196859B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B60W60/0018—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions
    • B60W60/00186—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions related to the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/246—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/80—Arrangements for reacting to or preventing system or operator failure
    • G05D1/85—Fail-safe operations, e.g. limp home mode
    • G05D1/857—Fail-safe operations, e.g. limp home mode in response to sensor failures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/20—Specific applications of the controlled vehicles for transportation
    • G05D2105/22—Specific applications of the controlled vehicles for transportation of humans
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/10—Outdoor regulated spaces
    • G05D2107/13—Spaces reserved for vehicle traffic, e.g. roads, regulated airspace or regulated waters
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Traffic Control Systems (AREA)

Claims (6)

  1. Verfahren für ein autonomes Fahrzeug (105), wobei das Verfahren umfasst:
    Empfangen, an einem autonomen Sicherheitsreitersystem (150) des autonomen Fahrzeugs, einer Karte von einer Fernfahrzeugautomatisierungsplattform (101), wobei die Karte einen oder mehrere Pfade bereitstellt, die eine Route definieren, die das autonome Fahrzeug voraussichtlich von einem Punkt zu einem anderen Punkt nehmen wird;
    Empfangen, an dem autonomen Sicherheitsreitersystem des autonomen Fahrzeugs, von Sicherheitsparametern von der Fernfahrzeugautomatisierungsplattform (101) für eine oder mehrere Positionen entlang des einen oder der mehreren Pfade innerhalb der Karte;
    während das autonome Fahrzeug durch ein automatisiertes Fahrsystem (110) des autonomen Fahrzeugs entlang des einen oder der mehreren Pfade gefahren wird, Überwachen von Fahrzeugsensoren (135) über das autonome Sicherheitsreitersystem;
    Ermitteln durch das autonome Sicherheitsreitersystem anhand von Daten, die durch das Überwachen der Fahrzeugsensoren empfangen wurden, ob das autonome Fahrzeug außerhalb der Sicherheitsparameter betrieben wird; und
    für den Fall, dass das autonome Fahrzeug außerhalb der Sicherheitsparameter für die eine oder mehreren Positionen entlang des einen oder der mehreren Pfade betrieben wird, Senden eines Betriebssignals über das autonome Sicherheitsreitersystem zum Betätigen der Bremsen, Drehen der Lenkung und/oder Betätigen der Drossel des autonomen Fahrzeugs,
    wobei das autonome Sicherheitsreitersystem von dem automatisierten Fahrsystem getrennt ist.
  2. Verfahren nach Anspruch 1, ferner umfassend das Senden eines Signals oder einer Nachricht von dem autonomen Sicherheitsreitersystem an das automatisierte Fahrsystem, dass das autonome Sicherheitsreitersystem die Steuerung des autonomen Fahrzeugs übernommen hat.
  3. Verfahren nach Anspruch 1, ferner umfassend das Deaktivieren der Steuerung des autonomen Fahrzeugs durch das automatisierte Fahrsystem.
  4. Verfahren nach Anspruch 1, wobei die Sensoren Sensoren an dem autonomen Fahrzeug sind.
  5. Verfahren nach Anspruch 1, wobei das autonome Fahrzeug ein teilautonomes Fahrzeug umfasst.
  6. Verfahren nach Anspruch 1, wobei das Betriebssignal über das CAN-System des autonomen Fahrzeugs an das autonome Fahrzeug übertragen wird.
EP21856743.6A 2020-08-12 2021-08-12 Autonomer sicherheitsfahrer Active EP4196859B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US202063064896P 2020-08-12 2020-08-12
PCT/US2021/045803 WO2022036139A1 (en) 2020-08-12 2021-08-12 Autonomous safety rider

Publications (3)

Publication Number Publication Date
EP4196859A1 EP4196859A1 (de) 2023-06-21
EP4196859A4 EP4196859A4 (de) 2024-08-14
EP4196859B1 true EP4196859B1 (de) 2026-04-29

Family

ID=80223875

Family Applications (1)

Application Number Title Priority Date Filing Date
EP21856743.6A Active EP4196859B1 (de) 2020-08-12 2021-08-12 Autonomer sicherheitsfahrer

Country Status (3)

Country Link
US (1) US20220048539A1 (de)
EP (1) EP4196859B1 (de)
WO (1) WO2022036139A1 (de)

Family Cites Families (17)

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US7859392B2 (en) * 2006-05-22 2010-12-28 Iwi, Inc. System and method for monitoring and updating speed-by-street data
US20100194593A1 (en) * 2009-02-05 2010-08-05 Paccar Inc Neural network for intelligent transportation systems
CA2801334C (en) * 2010-06-03 2020-03-10 Polaris Industries Inc. Electronic throttle control
US10379007B2 (en) * 2015-06-24 2019-08-13 Perrone Robotics, Inc. Automated robotic test system for automated driving systems
US9904286B2 (en) * 2015-10-13 2018-02-27 Nokia Technologies Oy Method and apparatus for providing adaptive transitioning between operational modes of an autonomous vehicle
US20190227553A1 (en) * 2015-11-04 2019-07-25 Zoox, Inc. Interactive autonomous vehicle command controller
US9580080B1 (en) * 2016-03-15 2017-02-28 Uber Technologies, Inc. Drive-by-wire control system
US10137903B2 (en) * 2016-08-16 2018-11-27 Uber Technologies, Inc. Autonomous vehicle diagnostic system
US10007269B1 (en) * 2017-06-23 2018-06-26 Uber Technologies, Inc. Collision-avoidance system for autonomous-capable vehicle
US10710602B2 (en) * 2017-10-06 2020-07-14 Uatc, Llc Systems and methods for a vehicle controller safety monitor
WO2019094843A1 (en) * 2017-11-10 2019-05-16 Nvidia Corporation Systems and methods for safe and reliable autonomous vehicles
US12169987B2 (en) * 2018-09-30 2024-12-17 Strong Force Tp Portfolio 2022, Llc Intelligent transportation systems including digital twin interface for a passenger vehicle
US10482003B1 (en) * 2018-11-09 2019-11-19 Aimotive Kft. Method and system for modifying a control unit of an autonomous car
CN109712421B (zh) * 2019-02-22 2021-06-04 百度在线网络技术（北京）有限公司 自动驾驶车辆的速度规划方法、装置和存储介质
US11999370B2 (en) * 2019-07-31 2024-06-04 Nissan North America, Inc. Automated vehicle system
US12377867B2 (en) * 2019-09-23 2025-08-05 Intel Corporation Independent safety monitoring of an automated driving system
US11014578B1 (en) * 2019-11-27 2021-05-25 Verizon Connect Development Limited Systems and methods for improved driver safety analytics

Also Published As

Publication number Publication date
US20220048539A1 (en) 2022-02-17
EP4196859A1 (de) 2023-06-21
EP4196859A4 (de) 2024-08-14
WO2022036139A1 (en) 2022-02-17

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